diff options
Diffstat (limited to 'klippy/mcu.py')
| -rw-r--r-- | klippy/mcu.py | 31 |
1 files changed, 19 insertions, 12 deletions
diff --git a/klippy/mcu.py b/klippy/mcu.py index 054577c0..d045c29f 100644 --- a/klippy/mcu.py +++ b/klippy/mcu.py @@ -4,7 +4,7 @@ # # This file may be distributed under the terms of the GNU GPLv3 license. import sys, os, zlib, logging, math -import serialhdl, pins, chelper +import serialhdl, pins, chelper, clocksync class error(Exception): pass @@ -205,8 +205,8 @@ class MCU_endstop: s.note_homing_triggered() self._homing = False return False - if (self._mcu.serial.get_clock(last_sent_time) - > self._home_timeout_clock): + last_clock, last_clock_time = self._mcu.get_last_clock() + if last_clock > self._home_timeout_clock: # Timeout - disable endstop checking msg = self._home_cmd.encode(self._oid, 0, 0, 0) self._mcu.send(msg, reqclock=0, cq=self._cmd_queue) @@ -397,7 +397,7 @@ class MCU_adc: , self._oid) def _handle_analog_in_state(self, params): last_value = params['value'] * self._inv_max_adc - next_clock = self._mcu.serial.translate_clock(params['next_clock']) + next_clock = self._mcu.translate_clock(params['next_clock']) last_read_clock = next_clock - self._report_clock last_read_time = self._mcu.clock_to_print_time(last_read_clock) if self._callback is not None: @@ -406,8 +406,9 @@ class MCU_adc: class MCU: error = error COMM_TIMEOUT = 3.5 - def __init__(self, printer, config): + def __init__(self, printer, config, clocksync): self._printer = printer + self._clocksync = clocksync # Serial port self._serialport = config.get('serial', '/dev/ttyS0') if self._serialport.startswith("/dev/rpmsg_"): @@ -488,6 +489,7 @@ class MCU: # Try toggling usb power self._check_restart("enable power") self.serial.connect() + self._clocksync.connect(self.serial) self._printer.reactor.update_timer( self._timeout_timer, self.monotonic() + self.COMM_TIMEOUT) self._mcu_freq = self.serial.msgparser.get_constant_float('CLOCK_FREQ') @@ -510,13 +512,14 @@ class MCU: dict_data = dfile.read() dfile.close() self.serial.connect_file(outfile, dict_data) + self._clocksync.connect_file(self.serial, pace) # Handle pacing if not pace: def dummy_estimated_print_time(eventtime): return 0. self.estimated_print_time = dummy_estimated_print_time def timeout_handler(self, eventtime): - last_clock, last_clock_time = self.serial.get_last_clock() + last_clock, last_clock_time = self.get_last_clock() timeout = last_clock_time + self.COMM_TIMEOUT if eventtime < timeout: return timeout @@ -530,9 +533,10 @@ class MCU: self._ffi_lib.steppersync_free(self._steppersync) self._steppersync = None def stats(self, eventtime): - return "%s mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % ( - self.serial.stats(eventtime), + msg = "mcu_awake=%.03f mcu_task_avg=%.06f mcu_task_stddev=%.06f" % ( self._mcu_tick_awake, self._mcu_tick_avg, self._mcu_tick_stddev) + return ' '.join([self.serial.stats(eventtime), + self._clocksync.stats(eventtime), msg]) def force_shutdown(self): self.send(self._emergency_stop_cmd.encode()) def microcontroller_restart(self): @@ -545,7 +549,7 @@ class MCU: chelper.run_hub_ctrl(1) return if self._restart_method == 'command': - last_clock, last_clock_time = self.serial.get_last_clock() + last_clock, last_clock_time = self.get_last_clock() eventtime = reactor.monotonic() if ((self._reset_cmd is None and self._config_reset_cmd is None) or eventtime > last_clock_time + self.COMM_TIMEOUT): @@ -691,13 +695,15 @@ class MCU: def clock_to_print_time(self, clock): return clock / self._mcu_freq def estimated_print_time(self, eventtime): - return self.clock_to_print_time(self.serial.get_clock(eventtime)) + return self.clock_to_print_time(self._clocksync.get_clock(eventtime)) def get_mcu_freq(self): return self._mcu_freq def seconds_to_clock(self, time): return int(time * self._mcu_freq) def get_last_clock(self): - return self.serial.get_last_clock() + return self._clocksync.get_last_clock() + def translate_clock(self, clock): + return self._clocksync.translate_clock(clock) def get_max_stepper_error(self): return self._max_stepper_error # Move command queuing @@ -741,4 +747,5 @@ def error_help(msg): return "" def add_printer_objects(printer, config): - printer.add_object('mcu', MCU(printer, config.getsection('mcu'))) + mainsync = clocksync.ClockSync(printer.reactor) + printer.add_object('mcu', MCU(printer, config.getsection('mcu'), mainsync)) |